#ifndef  MIG_EUROC_READER_H
#define  MIG_EUROC_READER_H

#include <string>
#include <vector>

using std::string;
using std::vector;

// 一些用于EuRoC数据集的IO函数




// Load the stereo image data
// 输入：左眼图像目录，右眼图像目录，时间戳文件
// 输出：排序后左眼图像文件路径、右眼图像文件路径、时间戳
bool LoadImages(const string &strPathLeft, const string &strPathRight, const string &strPathTimes,
                vector<string> &vstrImageLeft, vector<string> &vstrImageRight, vector<double> &vTimeStamps);

// Load the IMU data
//bool LoadImus(const string &strImuPath, VecIMU &vImus);

/**
 * Load the ground truth trajectory
 * @param [in] trajPath the path to trajectory, in euroc will be xxx/state_groundtruth_estimate0/data.csv
 * @param [out] the loaded trajectory
 * @return true if succeed
 */
//typedef map<double, SE3d, std::less<double>, Eigen::aligned_allocator<SE3d>> TrajectoryType;
//
//bool LoadGroundTruthTraj(const string &trajPath,
//                         TrajectoryType &trajectory);


#endif
